Robot tail end positioning device

Abstract

The utility model provides a robot tail end positioning device which comprises a clamping mechanism and an adjusting device, the adjusting device comprises a first fixing piece and a second fixing piece, a sliding seat is arranged on one face of the second fixing piece, an arc-shaped guide rail is arranged on the sliding seat, and the clamping mechanism is arranged on the arc-shaped guide rail. An arc-shaped gear meshed with the first gear is fixed to the arc-shaped guide rail, a third fixing piece is further arranged on one side of the arc-shaped gear, and a clamping mechanism is fixed to the third fixing piece. A tightening mechanism is further arranged on the other face of the second fixing piece and comprises a fixing piece, a first elastic piece and an ejection piece, the fixing piece is fixedly connected with the second fixing piece, one side of the first elastic piece is attached to the second fixing piece, the other side of the first elastic piece is attached to the ejection piece, and the ejection piece penetrates through the second fixing piece and presses the arc-shaped guide rail. According to the utility model, the clearance between the arc-shaped guide rail and the sliding seat is reduced by utilizing the tightening mechanism, so that the random error of the puncture needle can be reduced, and the puncture path is more accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a robot end positioning device. Background Art

[0002] Puncture is used in a variety of surgeries, such as ablation surgery, percutaneous biopsy, and biliary intervention surgery. Before the puncture surgery, the doctor will plan the puncture needle walking plane according to the patient's CT or MRI images. During the puncture surgery, generally, imaging guidance equipment is used to clarify the puncture target position. When the walking plane of the puncture needle is consistent with the preoperative imaging scan plane, it is coplanar puncture. The planning of the coplanar puncture needle insertion path, the avoidance of important organizational structures, and the selection of the sampling area are relatively easy to control. Therefore, after using ultrasound or CT to determine the puncture biliary target area, puncture is preferably performed on the imaging plane. However, due to the obstruction of bony structures, chest wall blood vessels, intrathoracic blood vessels, or other normal organizational structures on this plane, as well as the limitations of the operator's experience and technique, the influence of the patient's soft tissue deformation, the change of the patient's muscle tension, and the interference of respiratory movement and other factors, non-coplanar puncture techniques are often required. That is, after determining the human cross-section where the target is located, select to offset cephalad or caudad to find a suitable needle point and plan the needle insertion path.

[0003] During non-coplanar puncture, when the planned puncture path encounters important human tissues such as bones and blood vessels, it is usually necessary to perform a new ultrasound scan to determine the puncture path. And in the puncture path, when changing the angle of the puncture needle by sliding the slider on the arc-shaped guide rail, due to the gap between the arc-shaped guide rails, there may be an error between the puncture path and the planned path after the angle is changed.

[0004] In view of this, the utility model provides a robot end positioning device that can reduce the error between the puncture path and the planned path. Summary of the Utility Model

[0005] In order to solve the problem of a large error between the puncture path and the planned path, the utility model proposes a robot end positioning device.

[0006] The utility model is realized through the following technical solutions:

[0007] The robot end positioning device proposed by the utility model includes a clamping mechanism and an adjusting device, wherein:

[0008] The adjusting device includes a first fixing member and a second fixing member. One end of the first fixing member is fixedly connected to one end of the second fixing member. There is a driving device on one side of the first fixing member, and a first gear connected to the driving device is arranged on the other side of the first fixing member. A sliding seat is arranged on one surface of the second fixing member, an arc-shaped guide rail is arranged on the sliding seat, and an arc-shaped gear meshing with the first gear is fixed on the arc-shaped guide rail. A third fixing member is further arranged on one side of the arc-shaped gear, and a clamping mechanism is fixed on the third fixing member;

[0009] On the other surface of the second fixing member, a tightening mechanism is further arranged. The two tightening mechanisms are arranged on both sides of the second fixing member. The tightening mechanism includes a fixing piece, a first elastic member and a top piece. The fixing piece is fixedly connected to the second fixing member. One side of the first elastic member is attached to the second fixing member, and the other side is attached to the top piece, and the top piece passes through the second fixing member and presses the arc-shaped guide rail, so that the arc-shaped guide rail is always in close contact with the sliding seat.

[0010] Further, the clamping mechanism includes two blades. The third fixing member is provided with an extension portion facing the second fixing member. An installation groove is arranged on one side of the extension portion. The two blades are symmetrically arranged in the installation groove. The two blades are respectively fixedly connected to the third fixing member through a rotating shaft longitudinally penetrating the third fixing member. A second elastic member is further arranged in the installation groove. The second elastic member contacts the two blades and makes the two blades in close contact.

[0011] Further, two protrusions are arranged between the two blades, and the contact sides of the two blades are attached to form a needle channel.

[0012] Further, the driving device includes a first motor and a reduction box. The output end of the first motor is connected to the reduction box. The reduction box and the first motor are fixed to the first fixing member through a first connecting member.

[0013] Further, the driving device further includes a second gear and a third gear. The output end of the reduction box is connected to the second gear. The third gear is arranged on the other surface of the second fixing member and is coaxially connected to the first gear. The second gear and the third gear are meshed.

[0014] Further, a first baffle is arranged at the top of the extension portion. Two photoelectric sensors are respectively arranged on both sides of the other surface of the second fixing member. The first baffle is fixedly connected to the extension portion, and the photoelectric sensors are fixedly connected to the second fixing member.

[0015] Further, two protrusions are respectively arranged at two ends of the second fixing member facing the bottom side, and a second baffle is further arranged between the top of the extension part and the bottom of the second fixing member. The second baffle penetrates through the first baffle and fixes the first baffle to the top of the extension part.

[0016] Further, it further includes a second connecting member. One side of the second connecting member is connected to the first fixing member, and an optical positioning workpiece is further arranged on the other side of the top of the second connecting member.

[0017] Further, it further includes a second motor. The second motor is arranged at the bottom of the second connecting member and fixedly connected to the second connecting member. The output end of the second motor faces the bottom side, and an ultrasonic probe is fixed to the output end of the second motor.

[0018] Further, it further includes a probe clamping member. The output end of the second motor clamps the ultrasonic probe through the probe clamping member and is fixedly connected to the ultrasonic probe.

[0019] Advantages of the present utility model:

[0020] (1) The robot end positioning device proposed by the present utility model adopts a tightening mechanism to reduce the gap between the arc-shaped guide rail and the sliding seat. The first elastic member is always compressed, causing the top member to press against the arc-shaped guide rail. Finally, the arc-shaped guide rail closely fits onto the sliding seat, thereby reducing the distance between the arc-shaped guide rail and the sliding seat. When the puncture needle changes the angle, the random error generated can be reduced, and the accuracy of the puncture path of the puncture needle can be improved.

[0021] (2) The clamping device provided by the robot end positioning device proposed by the present utility model uses two blades to clamp the puncture needle. The protrusion between the two blades ensures the consistency of the movement of the two blades. The longitudinally penetrating triangular needle channel formed between the two blades can also ensure that the axial position of different puncture needles remains unchanged during installation, adapting to various puncture needles of different sizes and meeting the puncture requirements of different parts.

[0022] (3) The robot end positioning device proposed by the present utility model uses a second motor to connect the probe clamping device and the ultrasonic probe. When the puncture needle is not in the scanning plane of the ultrasonic probe, the ultrasonic probe can be rotated by the second motor to make the puncture track of the puncture needle within the scanning plane of the ultrasonic probe. Description of the drawings

[0023] Figure 1 It is the overall structure diagram of the robot end positioning device of the present utility model;

[0024] Figure 2 It is the structure diagram of one side of the adjusting device of the robot end positioning device of the present utility model;

[0025] Figure 3 Structural diagram of the other side of the adjusting device of the robot end positioning device of the present utility model;

[0026] Figure 4 Exploded view of the robot end positioning device of the present utility model;

[0027] In the figure: optical positioning workpiece 1, second connecting piece 2, second motor 3, probe clamping piece 4, ultrasonic probe 5, adjusting device 6, first fixing piece 61, second fixing piece 62, protrusion 621, third fixing piece 63, extension part 631, installation groove 632, arc-shaped guide rail 64, sliding seat 65, arc-shaped gear 66, first gear 67, driving device 68, first motor 681, second gear 682, third gear 683, speed reducer 684, first connecting piece 69, first baffle 610, second baffle 611, photoelectric sensor 612, clamping mechanism 7, rotating shaft 71, blade 72, second elastic member 73, tightening mechanism 8, fixing piece 81, first elastic member 82, pressing member 83;

[0028] The realization, functional features and advantages of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0029] In order to more clearly and completely illustrate the technical solution of the present utility model, the present utility model will be further described below with reference to the accompanying drawings.

[0030] Please refer to Figures 1-4 , the present utility model provides a robot end positioning device including a clamping mechanism 7 and an adjusting device 6, wherein:

[0031] The adjusting device 6 includes a first fixing piece 61 and a second fixing piece 62. One end of the first fixing piece 61 is fixedly connected to one end of the second fixing piece 62. There is a driving device 68 on one side of the first fixing piece 61, and a first gear 67 connected to the driving device 68 is arranged on the other side of the first fixing piece 61. A sliding seat 65 is arranged on one surface of the second fixing piece 62. An arc-shaped guide rail 64 is arranged on the sliding seat 65. An arc-shaped gear 66 meshing with the first gear 67 is fixed on the arc-shaped guide rail 64. A third fixing piece 63 is further arranged on one side of the arc-shaped gear 66, and a clamping mechanism 7 is fixed on the third fixing piece 63;

[0032] A tightening mechanism 8 is further arranged on the other surface of the second fixing piece 62. The two tightening mechanisms 8 are arranged on both sides of the second fixing piece 62. The tightening mechanism 8 includes a fixing piece 81, a first elastic member 82 and a pressing member 83. The fixing piece 81 is fixedly connected to the second fixing piece 62. One side of the first elastic member 82 is attached to the second fixing piece 62, and the other side is attached to the pressing member 83, and the pressing member 83 passes through the second fixing piece 62 and presses the arc-shaped guide rail 64, so that the arc-shaped guide rail 64 and the sliding seat 65 are always in close fit.

[0033] In this embodiment:

[0034] The indentation mechanism is used to narrow the gap between the sliding seat 65 and the arc-shaped guide rail 64;

[0035] The driving device 68 is used to drive the first gear 67 to rotate;

[0036] The arc-shaped gear 66 and the first gear 67 are used to change the angle of the puncture needle;

[0037] The sliding seat 65 is used to restrict the movement of the arc-shaped guide rail 64;

[0038] The clamping mechanism 7 is used to clamp the puncture needle;

[0039] In a specific embodiment, the arc-shaped guide rail 64 passes through the sliding seat 65 and cooperates with the sliding seat 65. The arc-shaped guide rail 64 contacts the sliding seat 65 through balls. The driving mechanism drives the first gear 67 to drive the arc-shaped gear 66, and then the arc-shaped guide rail 64 moves, further driving the clamping mechanism 7 to move and change the angle of the puncture needle. Due to the machining errors of the arc-shaped guide rail 64 and the sliding seat 65, and the contact between the guide rail and the sliding seat 65 through balls, there is a certain gap between them. Therefore, during the movement, random errors are likely to occur. The fixing piece 81 in the tightening mechanism 8 is fixed on the other side of the second fixing member 62, the first elastic member 82 is compressed, and at the same time, one side is in contact with the fixing piece 81 and the other side is in contact with the top member 83. Finally, the elastic force of the first elastic member 82 causes the top member 83 to apply pressure to both ends of the arc-shaped guide rail 64 from the side of the arc-shaped guide rail 64, thereby generating an extrusion force between the arc-shaped guide rail 64 and the sliding seat 65, so as to narrow the distance between the arc-shaped guide rail 64 and the sliding seat 65. When the angle of the puncture needle is changed, the generated random errors can be reduced, and the accuracy of the puncture path of the puncture needle can be improved.

[0040] Further, the clamping mechanism 7 includes two blades 72. The third fixing member 63 is provided with an extension portion 631 facing the side of the second fixing member 62. An installation groove 632 is provided on one side of the extension portion 631. The two blades 72 are symmetrically arranged in the installation groove 632. The two blades 72 are respectively fixedly connected to the third fixing member 63 through a rotating shaft 71 that longitudinally penetrates the third fixing member 63. A second elastic member 73 is also provided in the installation groove 632. The second elastic member 73 contacts the two blades 72 and makes the two blades 72 closely fit;

[0041] There are two protrusions between the two blades 72. The contact sides of the two blades 72 are attached to each other to form a needle channel.

[0042] In this embodiment:

[0043] The blade 72 is used to clamp the puncture needle;

[0044] The extension part 631 and the mounting groove 632 are used for mounting the blades 72;

[0045] The second elastic member 73 is a torsion spring, which is used to make the two blades 72 closely fit and clamp the puncture needle;

[0046] The rotating shaft 71 is used to connect the two blades 72;

[0047] In a specific embodiment, the two blades 72 are in an arc-like structure. Mounting holes are provided on the sides of the two blades 72. The two protrusions between the two blades 72 can ensure that when one blade 72 moves, it will drive the other blade 72 to move, thereby ensuring the consistency of the movement of the two blades 72. The longitudinally penetrating triangular needle channel formed by the fitting of the blades 72 can adapt to different puncture needles and ensure that the relative positions of the axes of different-sized puncture needles remain unchanged. The rotating shaft 71 penetrates the mounting holes and the mounting groove 632, and mounts the two blades 72 into the mounting groove 632. At the same time, the two blades 72 can rotate around the rotating shaft 71. The second elastic member 73 is arranged in the mounting groove 632, and the two ends of the second elastic member 73 face outward and extrude one side of the two blades 72, so that the other side of the two blades 72 is closely fitted. When replacing puncture needles of different sizes and models, only need to press one side of the two blades 72 to open the other side, and then release it. At the same time, the second elastic member 73 rebounds, and the other side clamps the puncture needle.

[0048] Furthermore, the driving device 68 includes a first motor 681 and a reduction gearbox 684. The output end of the first motor 681 is connected to the reduction gearbox 684. The reduction gearbox 684 and the first motor 681 are fixed to the first fixing member 61 through a first connecting member 69.

[0049] In this embodiment:

[0050] The reduction gearbox 684 is used for speed-reducing transmission;

[0051] In a specific embodiment, the reduction gearbox 684 reduces and transmits the power of the first motor 681, making the rotation speed of the first gear 67 slower and more accurate when adjusting the angle of the puncture needle, and enabling more minute adjustments.

[0052] Furthermore, the driving device 68 further includes a second gear 682 and a third gear 683. The output end of the reduction gearbox 684 is connected to the second gear 682. The third gear 683 is arranged on the other side of the second fixing member 62 and is coaxially connected to the first gear 67. The second gear 682 and the third gear 683 are meshed.

[0053] In this embodiment:

[0054] The second gear 682 and the third gear 683 are used for driving connection between the first gear 67 and the reduction gearbox 684;

[0055] In a specific embodiment, the second gear 682 meshes with the third gear 683. The third gear 683 is connected to the first gear 67 on the other side of the second fixing member 62 through a shaft. The two gears rotate coaxially. After the motor rotates, the first gear 67 is driven to rotate through the reduction gearbox 684, the second gear 682 and the third gear 683. Finally, the arc-shaped guide rail 64 and the puncture needle on the arc-shaped guide rail 64 are adjusted.

[0056] Further, a first baffle is provided at the top of the extension portion 631. Two photoelectric sensors 612 are respectively provided on both sides of the other side of the second fixing member 62. The first baffle is fixedly connected to the extension portion 631, and the photoelectric sensor 612 is fixedly connected to the second fixing member 62.

[0057] In this embodiment:

[0058] The first baffle is used to cut off the laser of the photoelectric sensor 612;

[0059] The photoelectric sensor 612 is used to transmit a signal to the first motor 681;

[0060] In a specific embodiment, the first baffle is in an "L" shape with the baffle facing the top. The two photoelectric sensors 612 are arranged on both sides. When the arc-shaped guide rail 64 drives the third fixing member 63 to move, it will drive the extension portion 631 of the third fixing member 63 and the baffle above to rotate around the center of the arc-shaped guide rail 64. Subsequently, when the arc-shaped guide rail 64 rotates clockwise and counterclockwise to a certain angle, the first baffle 610 will cut off the laser of the corresponding photoelectric sensor 612, causing the first motor 681 to stop rotating to complete braking.

[0061] Further, a protrusion 621 is provided at each of the two ends of the second fixing member 62 facing the bottom side. A second baffle is also provided between the top of the extension portion 631 and the bottom of the second fixing member 62. The second baffle penetrates through the first baffle and fixes the first baffle to the top of the extension portion 631.

[0062] In this embodiment:

[0063] The protrusion 621 and the second baffle 611 are used to provide braking for the arc-shaped guide rail 64;

[0064] In a specific embodiment, the second baffle 611 is cylindrical, with threads provided at the bottom of the second baffle 611. A through-hole is provided on the first baffle 610. The bottom of the second baffle 611 passes through the through-hole and is connected to the top of the extension 631 of the third-stage fixing member, and at the same time fixes the first baffle. When the arc-shaped guide rail 64 rotates counterclockwise or clockwise to a certain angle, it will respectively abut against the two protrusions 621, and braking is completed through the first baffle 610 and the second baffle 611, which can prevent the arc-shaped guide rail 64 from moving beyond the limit.

[0065] Further, a second connecting member 2 is further included. One side of the second connecting member 2 is connected to the first fixing member 61, and an optical positioning workpiece 1 is further provided on the other side at the top of the second connecting member 2.

[0066] In this embodiment:

[0067] The optical positioning workpiece 1 is used for spatial positioning;

[0068] The second connecting member 2 is used to connect the end of the six-axis robot and the entire robot end positioning device;

[0069] In a specific embodiment, four optical marking balls are installed at the four corners of the optical positioning tool. The external device can identify the spatial positions of the optical marking balls, and the external six-axis robot is connected to the entire robot end device through the second connecting member 2. When the six-axis robot changes the joint angles of each axis, it will change the spatial pose of the entire device.

[0070] Further, a second motor 3 is further included. The second motor 3 is arranged at the bottom of the second connecting member 2 and fixedly connected to the second connecting member 2. The output end of the second motor 3 faces the bottom side, and an ultrasonic probe 5 is fixed to the output end of the second motor 3;

[0071] A probe clamping member 4 is further included. The output end of the second motor 3 clamps and fixedly connects the ultrasonic probe 5 through the probe clamping member 4.

[0072] In this embodiment:

[0073] The second motor 3 is used to drive the ultrasonic probe 5 to rotate;

[0074] The probe clamping member 4 is used to clamp and fix the ultrasonic probe 5;

[0075] In a specific embodiment, the ultrasonic probe 5 faces the bottom side. The second motor 3 drives the probe clamping member 4 and the ultrasonic probe 5 to rotate to complete ultrasonic detection. When the puncture needle is not in the scanning plane of the ultrasonic probe 5, the ultrasonic probe 5 can be rotated to make the puncture track of the puncture needle within the scanning plane of the ultrasonic probe 5.

[0076] Certainly, the present utility model may also have many other implementation manners. Based on this implementation manner, other implementation manners obtained by ordinary technical personnel in this field without any creative work all fall within the scope protected by the present utility model.

Claims

1. A robot end positioning device, characterized in that: It comprises a clamping mechanism and an adjusting device, wherein: The adjusting device comprises a first fixing member and a second fixing member, one end of the first fixing member is fixedly connected to one end of the second fixing member, a driving device is arranged on one side of the first fixing member, a first gear connected to the driving device is arranged on the other side of the first fixing member, a sliding seat is arranged on one side of the second fixing member, an arc-shaped guide rail is arranged on the sliding seat, an arc-shaped gear meshing with the first gear is fixed on the arc-shaped guide rail, a third fixing member is further arranged on one side of the arc-shaped gear, and a clamping mechanism is fixed on the third fixing member; A tightening mechanism is also provided on the other side of the second fixing member, and two tightening mechanisms are provided on both sides of the second fixing member, and the tightening mechanism includes a fixing plate, a first elastic member and a top member, and the fixing plate is fixedly connected to the second fixing member, one side of the first elastic member is in contact with the second fixing member, and the other side is in contact with the top member, and the top member passes through the second fixing member and presses the arc guide rail, so that the arc guide rail and the sliding seat are always in close contact.

2. The robot end positioning device according to claim 1, characterized in that: The clamping mechanism includes two blades, the third fixing member is provided with an extension portion facing one side of the second fixing member, a mounting groove is provided on one side of the extension portion, the two blades are symmetrically arranged in the mounting groove, the two blades are respectively fixedly connected to the third fixing member by a rotating shaft longitudinally penetrating the third fixing member, and a second elastic member is also provided in the mounting groove, the second elastic member contacts the two blades and makes the two blades fit tightly.

3. The robot end positioning device according to claim 2, characterized in that: Two protrusions are arranged between the two blades, and the contact sides of the two blades are attached to form a needle track.

4. The robot end positioning device according to claim 1, characterized in that: The driving device includes a first motor and a reduction box. The output end of the first motor is connected to the reduction box. The reduction box and the first motor are fixed to the first fixing member through a first connecting member.

5. The robot end positioning device according to claim 4, characterized in that: The driving device also includes a second gear and a third gear. The output end of the reduction box is connected to the second gear. The third gear is arranged on the other side of the second fixing member and is coaxially connected to the first gear. The second gear is meshed with the third gear.

6. The robot end positioning device according to claim 2, characterized in that: A first baffle is provided on the top of the extension part, two photoelectric sensors are respectively provided on both sides of the other side of the second fixing member, the first baffle is fixedly connected to the extension part, and the photoelectric sensor is fixedly connected to the second fixing member.

7. The robot end positioning device according to claim 6, characterized in that: The second fixing member has two ends facing the bottom, each of which has a protrusion. A second blocking piece is provided between the top of the extension and the bottom of the second fixing member. The second blocking piece penetrates the first blocking piece and fixes the first blocking piece to the top of the extension.

8. The robot end positioning device according to claim 1, characterized in that: It also includes a second connecting member, one side of which is connected to the first fixing member, and an optical positioning workpiece is also arranged on the other side of the top of the second connecting member.

9. The robot end positioning device according to claim 8, characterized in that: It also includes a second motor, which is arranged at the bottom of the second connecting member and fixedly connected to the second connecting member, the output end of the second motor faces the bottom side, and an ultrasonic probe is fixed to the output end of the second motor.

10. The robot end positioning device according to claim 9, characterized in that: It also includes a probe clamping piece, and the output end of the second motor clamps the ultrasonic probe through the probe clamping piece and is fixedly connected to the ultrasonic probe.

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